src/main/pg/motor.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "pg/pg.h"
  24
  25 #include "drivers/io.h"
  26 #include "drivers/dshot_bitbang.h"
  27
  28 typedef enum {
  29     DSHOT_BITBANGED_TIMER_AUTO = 0,
  30     DSHOT_BITBANGED_TIMER_TIM1,
  31     DSHOT_BITBANGED_TIMER_TIM8,
  32 } dshotBitbangedTimer_e;
  33
  34 typedef enum {
  35     DSHOT_DMAR_OFF,
  36     DSHOT_DMAR_ON,
  37     DSHOT_DMAR_AUTO
  38 } dshotDmar_e;
  39
  40 typedef enum {
  41     DSHOT_TELEMETRY_OFF,
  42     DSHOT_TELEMETRY_ON,
  43 } dshotTelemetry_e;
  44
  45 typedef struct motorDevConfig_s {
  46     uint16_t motorPwmRate;                  // The update rate of motor outputs (50-498Hz)
  47     uint8_t  motorPwmProtocol;              // Pwm Protocol
  48     uint8_t  motorPwmInversion;             // Active-High vs Active-Low. Useful for brushed FCs converted for brushless operation
  49     uint8_t  useUnsyncedPwm;
  50     uint8_t  useBurstDshot;
  51     uint8_t  useDshotTelemetry;
  52     uint8_t  useDshotEdt;
  53     ioTag_t  ioTags[MAX_SUPPORTED_MOTORS];
  54     uint8_t  motorTransportProtocol;
  55     uint8_t  useDshotBitbang;
  56     uint8_t  useDshotBitbangedTimer;
  57     uint8_t  motorOutputReordering[MAX_SUPPORTED_MOTORS]; // Reindexing motors for "remap motors" feature in Configurator
  58 } motorDevConfig_t;
  59
  60 typedef struct motorConfig_s {
  61     motorDevConfig_t dev;
  62     uint16_t motorIdle;                     // When motors are idling, the percentage of the motor range added above the disarmed value, in percent * 100.
  63     uint16_t maxthrottle;                   // This is the maximum value for the ESCs at full power. This value can be increased up to 2000
  64     uint16_t mincommand;                    // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
  65     uint16_t kv;                            // Motor velocity constant (Kv) to estimate RPM under no load (unloadedRpm = Kv * batteryVoltage)
  66     uint8_t motorPoleCount;                 // Number of magnetic poles in the motor bell for calculating actual RPM from eRPM provided by ESC telemetry
  67 } motorConfig_t;
  68
  69 PG_DECLARE(motorConfig_t, motorConfig);